期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 27, 期 5, 页码 2484-2494出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3113290
关键词
Gyroscopic stabilization; mechatronic codesign; multiple-objective optimization design; powered two-wheelers (PTWs) control
类别
资金
- European Union [688900]
This article proposes the co-design of a stabilization system based on control momentum gyroscopes, guiding parameters selection through defining a multiobjective optimization problem, resulting in the manufacture and testing of a special prototype with joint design approach.
Roll dynamics of powered two-wheelers (PTWs) are unstable at low speed, and their active control could improve both safety and comfort. This article proposes the co-design of a stabilization system based on control momentum gyroscopes, which, with their compact package and low power request, are a fascinating option in particular for PTW, where onboard energy and size constraints make the design of a proper roll torque actuator challenging. The joint design of the actuator and its control law is proposed by defining a multiobjective optimization problem, which also turns into a tool that allows the designer to steer the parameters choice in different directions. The resulting prototype is manufactured, installed on a motorcycle, tested, and experimentally validated in several conditions.
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